this paper presents a stable new algorithm for force/position control in robot manipulators. in this algorithm, position vectors are measured by sensors and then used in the control law. since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. in this respect, force sensor is replaced by an adaptive fuzzy estimator to...

this paper deals with leader-following and leaderless consensus problems of high-order multi-input/multi-output (mimo) multi-agent systems with unknown nonlinear dynamics in the presence of uncertain external disturbances. the agents may have different dynamics and communicate together under a directed graph. a distributed adaptive method is designed for both cases. the structures of the contro...

this paper deals with a globally convergent adaptive and sliding mode control of a cart-pole inverted pendulum for trajectory tracking in the presence of a bounded measurement noise and parameter uncertainty. two kinds of controllers have been used for evaluation of tracking error in presence of a bounded noise; as a result, we want to compare that at what time we can see the convergence of tra...

in this paper, a new robust controller based on geometric homogeneity and adaptive integral sliding mode is proposed for a class of second order systems. the upper bound of the system disturbances is not required. fully unknown parameters have been considered in the described model and its finite–time convergence to zero equilibrium point is proved. moreover, the controller is developed in the ...

tthe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. this paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. as a novelty, the proposed controller employs a simple gaussian radial-basis-function network as an uncertainty estimator. the proposed netw...

this paper introduces a technique for controlling a class of uncertain chaotic systems using an adaptive fuzzy proportional-integrator-derivative (pid) controller with h∞ tracking performance. the purpose of this work is to achieve optimal tracking performance of the controller using backtracking search algorithm (bsa). bsa, which is a novel heuristic algorithm, has an easy structure with singl...

In recent years, active filters have been considered and developed for elimation of harmonics in power networks. Comparing with passive, they are smaller and have better compensating characteristics and resistance to line distortions. In this paper, a novel idea based on adaptive filter theory in presented to develop an active filter to eliminate the distortions of an arbitrary signal. Using th...

Constraint propagation algorithms vary in the strength of propagation they apply. This paper investigates a simple connguration for adaptive propagation { the process of varying the strength of propagation to reeect the dynamics of search. We focus on two propagation methods, Arc Consistency (AC) and Forward Checking (FC). AC-based algorithms apply a stronger form of propagation than FC-based a...

In recent years, active filters have been considered and developed for elimation of harmonics in power networks. Comparing with passive, they are smaller and have better compensating characteristics and resistance to line distortions. In this paper, a novel idea based on adaptive filter theory in presented to develop an active filter to eliminate the distortions of an arbitrary signal. Using th...